智能车制作

标题: 求助：K60写的硬件I2C读取mpu6050 [打印本页]

作者: 发射点发射点 时间: 2017-4-29 20:31
标题: 求助：K60写的硬件I2C读取mpu6050
不知道为什么一直读不出数据，求大神指导。硬件I2C，具体配置如下：
#ifndef _MPU6050_H_
#define _MPU6050_H_

#include "common.h"
#include "i2c.h"

/*所有寄存器复位后值都为0x00，除了下面两个寄存器.
*寄存器(PWR_MGMT_1)107(0x6B): 0x40.
*寄存器(WHO_AM_I)117(0x75): 0x68.
*/

#define MPU6050_SELF_TEST_X          0x0D//R/W [7:5]XA_TEST[4-2] [4:0]XG_TEST[4-0]
#define MPU6050_SELF_TEST_Y          0x0E//R/W [7:5]XA_TEST[4-2] [4:0]XG_TEST[4-0]
#define MPU6050_SELF_TEST_Z          0x0F//R/W [7:5]XA_TEST[4-2] [4:0]XG_TEST[4-0]
#define MPU6050_SELF_TEST_A          0x10//R/W [5:4]XA_TEST[1-0] [3:2]YA_TEST[1-0] [1:0]ZA_TEST[1-0]
/*Self Test Registers(自检寄存器)
*These registers are used for gyroscope and accelerometer self-tests
*that permit the user to test the mechanical and electrical portions
*of the gyroscope and the accelerometer. The following sections
describe the self-test process.
*/

#define MPU6050_SMPLRT_DIV          0x19//R/W [7:0]SMPLRT_DIV
/*Sample Rate Divider(采样频率分频寄存器)
*This register specifies the divider from the gyroscope output rate
*used to generate the Sample Rate for the MPU-60X0.
*/

#define MPU6050_CONFIG          0x1A//R/W [5:4]EXT_SYNC_SET[2-0]  [2:0]DLPF_CFG[2-0]
/*Configuration(配置寄存器)

*/

#define MPU6050_GYRO_CONFIG          0x1B//R/W [4:3]FS_SEL[1-0]
#define MPU6050_ACCEL_CONFIG          0x1C//R/W [7]XA_ST [6]YA_ST [5]ZA_ST [4:3]AFS_SEL[1-0]
#define MPU6050_MOT_THR          0x1F//R/W [7:0]MOT_THR[7-0]
/*运动检测阀值

*/
#define MPU6050_FIFO_EN          0x23//R/W [7]TEMP_FIFO_EN  [6]XG_FIFO_EN [5]YG_FIFO_EN [4]ZG_FIFO_EN
                                          // [3]ACCEL_FIFO_EN [2]SLV2_FIFO_EN [1]SLV1_FIFO_EN  [0]SLV0_FIFO_EN
#define MPU6050_I2C_MST_CTRL          0x24//R/W [7]MULT_MST_EN [6]WAIT_FOR_ES  [5]SLV_3_FIFO_EN [4]I2C_MST_P_NSR
                                          // [3:0]I2C_MST_CLK[3-0]
#define MPU6050_I2C_SLV0_ADDR          0x25//R/W [7]I2C_SLV0_RW [6:0]I2C_SLV0_ADDR[6-0]
#define MPU6050_I2C_SLV0_REG          0x26//R/W [7:0]I2C_SLV0_REG[7-0]
#define MPU6050_I2C_SLV0_CTRL          0x27//R/W [7]I2C_SLV0_EN [6]I2C_SLV0_BYTE_SW [5]I2C_SLV0_REG_DIS [4]I2C_SLV0_GRP
                                          // [3:0]I2C_SLV0_LEN[3-0]
#define MPU6050_I2C_SLV1_ADDR          0x28//R/W [7]I2C_SLV1_RW [6:0]I2C_SLV1_ADDR[6-0]
#define MPU6050_I2C_SLV1_REG          0x29//R/W [7:0]I2C_SLV1_REG[7-0]
#define MPU6050_I2C_SLV1_CTRL          0x2A//R/W [7]I2C_SLV1_EN [6]I2C_SLV1_BYTE_SW [5]I2C_SLV1_REG_DIS [4]I2C_SLV1_GRP
                                          // [3:0]I2C_SLV1_LEN[3-0]
#define MPU6050_I2C_SLV2_ADDR          0x2B//R/W [7]I2C_SLV2_RW [6:0]I2C_SLV2_ADDR[6-0]
#define MPU6050_I2C_SLV2_REG          0x2C//R/W [7:0]I2C_SLV2_REG[7-0]
#define MPU6050_I2C_SLV2_CTRL          0x2D//R/W [7]I2C_SLV2_EN [6]I2C_SLV2_BYTE_SW [5]I2C_SLV2_REG_DIS [4]I2C_SLV2_GRP
                                          // [3:0]I2C_SLV2_LEN[3-0]
#define MPU6050_I2C_SLV3_ADDR          0x2E//R/W [7]I2C_SLV3_RW [6:0]I2C_SLV3_ADDR[6-0]
#define MPU6050_I2C_SLV3_REG          0x2F//R/W [7:0]I2C_SLV3_REG[7-0]
#define MPU6050_I2C_SLV3_CTRL          0x30//R/W [7]I2C_SLV3_EN [6]I2C_SLV3_BYTE_SW [5]I2C_SLV3_REG_DIS [4]I2C_SLV3_GRP
                                          // [3:0]I2C_SLV3_LEN[3-0]
#define MPU6050_I2C_SLV4_ADDR          0x31//R/W [7]I2C_SLV4_RW [6:0]I2C_SLV4_ADDR[6-0]
#define MPU6050_I2C_SLV4_REG          0x32//R/W [7:0]I2C_SLV4_REG[7-0]
#define MPU6050_I2C_SLV4_DO          0x33//R/W [7:0]I2C_SLV4_DO[7-0]
#define MPU6050_I2C_SLV4_CTRL          0x34//R/W [7]I2C_SLV4_EN [6]I2C_SLV4_INT_EN [5]I2C_SLV4_REG_DIS I2C_MST_DLY[4:0]
#define MPU6050_I2C_SLV4_DI          0x35//R [7:0]I2C_SLV4_DI[7-0]
#define MPU6050_I2C_MST_STATUS          0x36//R [7]PASS_THROUGH  [6]I2C_SLV4_DONE [5]I2C_LOST_ARB  [4]I2C_SLV4_NACK
                                          // [3]I2C_SLV3_NACK [2]I2C_SLV2_NACK [1]I2C_SLV1_NACK [0]I2C_SLV0_NACK
#define MPU6050_INT_PIN_CFG          0x37//R/W [7]INT_LEVEL    [6]INT_OPEN    [5]LATCH_INT_EN [4]INT_RD_CLEAR
                                          // [3]FSYNC_INT_LEVEL [2]FSYNC_INT_EN [1]I2C_BYPASS_EN
#define MPU6050_INT_ENABLE          0x38//R/W [6]MOT_EN  [4]FIFO_OFLOW_EN [3]I2C_MST_INT_EN [0]DATA_RDY_EN
#define MPU6050_INT_STATUS          0x3A//R [6]MOT_INT [4]FIFO_OFLOW _INT [3]I2C_MST_INT [0]DATA_RDY_INT
#define MPU6050_ACCEL_XOUT_H          0x3B//R [7:0]ACCEL_XOUT[15-8]
#define MPU6050_ACCEL_XOUT_L          0x3C//R [7:0]ACCEL_XOUT[7-0]
#define MPU6050_ACCEL_XOUT             MPU6050_ACCEL_XOUT_H
#define MPU6050_ACCEL_YOUT_H          0x3D//R [7:0]ACCEL_YOUT[15-8]
#define MPU6050_ACCEL_YOUT_L          0x3E//R [7:0]ACCEL_YOUT[7-0]
#define MPU6050_ACCEL_YOUT             MPU6050_ACCEL_YOUT_H
#define MPU6050_ACCEL_ZOUT_H          0x3F//R [7:0]ACCEL_ZOUT[15-8]
#define MPU6050_ACCEL_ZOUT_L          0x40//R [7:0]ACCEL_ZOUT[7-0]
#define MPU6050_ACCEL_ZOUT             MPU6050_ACCEL_ZOUT_H
#define MPU6050_TEMP_OUT_H          0x41//R [7:0]TEMP_OUT[15-8]
#define MPU6050_TEMP_OUT_L          0x42//R [7:0]TEMP_OUT[7-0]
#define MPU6050_TEMP_OUT             MPU6050_TEMP_OUT_H
#define MPU6050_GYRO_XOUT_H          0x43//R [7:0]GYRO_XOUT[15-8]
#define MPU6050_GYRO_XOUT_L          0x44//R [7:0]GYRO_XOUT[7-0]
#define MPU6050_GYRO_XOUT             MPU6050_GYRO_XOUT_H
#define MPU6050_GYRO_YOUT_H          0x45//R [7:0]GYRO_YOUT[15-8]
#define MPU6050_GYRO_YOUT_L          0x46//R [7:0]GYRO_YOUT[7-0]
#define MPU6050_GYRO_YOUT             MPU6050_GYRO_YOUT_H
#define MPU6050_GYRO_ZOUT_H          0x47//R [7:0]GYRO_ZOUT[15-8]
#define MPU6050_GYRO_ZOUT_L          0x48//R [7:0]GYRO_ZOUT[7-0]
#define MPU6050_GYRO_ZOUT             MPU6050_GYRO_ZOUT_H
#define MPU6050_EXT_SENS_DATA_00 0x49//R [7:0]EXT_SENS_DATA_00
#define MPU6050_EXT_SENS_DATA_01 0x4A//R [7:0]EXT_SENS_DATA_01
#define MPU6050_EXT_SENS_DATA_02 0x4B//R [7:0]EXT_SENS_DATA_02
#define MPU6050_EXT_SENS_DATA_03 0x4C//R [7:0]EXT_SENS_DATA_03
#define MPU6050_EXT_SENS_DATA_04 0x4D//R [7:0]EXT_SENS_DATA_04
#define MPU6050_EXT_SENS_DATA_05 0x4E//R [7:0]EXT_SENS_DATA_05
#define MPU6050_EXT_SENS_DATA_06 0x4F//R [7:0]EXT_SENS_DATA_06
#define MPU6050_EXT_SENS_DATA_07 0x50//R [7:0]EXT_SENS_DATA_07
#define MPU6050_EXT_SENS_DATA_08 0x51//R [7:0]EXT_SENS_DATA_08
#define MPU6050_EXT_SENS_DATA_09 0x52//R [7:0]EXT_SENS_DATA_09
#define MPU6050_EXT_SENS_DATA_10 0x53//R [7:0]EXT_SENS_DATA_10
#define MPU6050_EXT_SENS_DATA_11 0x54//R [7:0]EXT_SENS_DATA_11
#define MPU6050_EXT_SENS_DATA_12 0x55//R [7:0]EXT_SENS_DATA_12
#define MPU6050_EXT_SENS_DATA_13 0x56//R [7:0]EXT_SENS_DATA_13
#define MPU6050_EXT_SENS_DATA_14 0x57//R [7:0]EXT_SENS_DATA_14
#define MPU6050_EXT_SENS_DATA_15 0x58//R [7:0]EXT_SENS_DATA_15
#define MPU6050_EXT_SENS_DATA_16 0x59//R [7:0]EXT_SENS_DATA_16
#define MPU6050_EXT_SENS_DATA_17 0x5A//R [7:0]EXT_SENS_DATA_17
#define MPU6050_EXT_SENS_DATA_18 0x5B//R [7:0]EXT_SENS_DATA_18
#define MPU6050_EXT_SENS_DATA_19 0x5C//R [7:0]EXT_SENS_DATA_19
#define MPU6050_EXT_SENS_DATA_20 0x5D//R [7:0]EXT_SENS_DATA_20
#define MPU6050_EXT_SENS_DATA_21 0x5E//R [7:0]EXT_SENS_DATA_21
#define MPU6050_EXT_SENS_DATA_22 0x5F//R [7:0]EXT_SENS_DATA_22
#define MPU6050_EXT_SENS_DATA_23 0x60//R [7:0]EXT_SENS_DATA_23
#define MPU6050_I2C_SLV0_DO 0x63//R/W [7:0]I2C_SLV0_DO
#define MPU6050_I2C_SLV1_DO 0x64//R/W [7:0]I2C_SLV1_DO
#define MPU6050_I2C_SLV2_DO 0x65//R/W [7:0]I2C_SLV2_DO
#define MPU6050_I2C_SLV3_DO 0x66//R/W [7:0]I2C_SLV3_DO
#define MPU6050_I2C_MST_DELAY_CTRL 0x67//R/W [7]DELAY_ES_SHADOW [4]I2C_SLV4_DLY_EN [3]I2C_SLV3_DLY_EN
                                          // [2]I2C_SLV2_DLY_EN [1]I2C_SLV1_DLY_EN [0]I2C_SLV0_DLY_EN
#define MPU6050_SIGNAL_PATH_RESET 0x68//R/W [2]GYRO_RESET [1]ACCEL_RESET [0]TEMP_RESET
#define MPU6050_MOT_DETECT_CTRL 0x69//R/W [5:4]ACCEL_ON_DELAY[1-0]
#define MPU6050_USER_CTRL 0x6A//R/W [6]FIFO_EN [5]I2C_MST_EN [4]I2C_IF_DIS
                                          // [2]FIFO_RESET [1]I2C_MST_RESET [0]SIG_COND_RESET
#define MPU6050_PWR_MGMT_1 0x6B//R/W [7]DEVICE_RESET [6]SLEEP       [5]CYCLE
                                          // [4]TEMP_DIS    [2:0]CLKSEL[2-0]
#define MPU6050_PWR_MGMT_2 0x6C//R/W [7:6]LP_WAKE_CTRL[1-0] [5]STBY_XA  [4]STBY_YA
                                          // [3]STBY_ZA          [2]STBY_XG  [1]STBY_YG  [0]STBY_ZG
#define MPU6050_FIFO_COUNTH 0x72//R/W [7:0]FIFO_COUNT[15-8]
#define MPU6050_FIFO_COUNTL 0x73//R/W [7:0]FIFO_COUNT[7-0]
#define MPU6050_FIFO_R_W 0x74//R/W [7:0]FIFO_DATA[7-0]
#define MPU6050_WHO_AM_I 0x75//R [6:1]WHO_AM_I[6-1]    [0]depend on AD0

void MPU6050_GetData(void);
int16 MPU6050_GetDoubleData(uint8 Addr);
void MPU6050_Init(void);

#define MPU6050_I2C_Moudle             I2C1
#define MPU6050_ADDRESS_AD0_LOW       0x68 // address pin low (GND), default
#define MPU6050_ADDRESS_AD0_HIGH       0x69 // address pin high (VCC)
#define MPU6050_ADDRESS                MPU6050_ADDRESS_AD0_LOW
#define MPU6050_READ_ADDRESS          ( MPU6050_ADDRESS << 1 ) | 0x00
#define MPU6050_WRITE_ADDRESS          ( MPU6050_ADDRESS << 1 ) | 0x01

#endif /* _MPU6050_H_ */

#include "MPU6050.h"
#include "I2C.h"

volatile int16 MPU6050_ACCEL_XOUT_DATA=0;
volatile int16 MPU6050_ACCEL_YOUT_DATA=0;
volatile int16 MPU6050_ACCEL_ZOUT_DATA=0;
volatile int16 MPU6050_TEMP_OUT_DATA=0;
volatile int16 MPU6050_GYRO_XOUT_DATA=0;
volatile int16 MPU6050_GYRO_YOUT_DATA=0;
volatile int16 MPU6050_GYRO_ZOUT_DATA=0;

void MPU6050_Init(void)
{

  I2C_init(MPU6050_I2C_Moudle);
  I2C_WriteAddr(MPU6050_I2C_Moudle, MPU6050_ADDRESS,MPU6050_PWR_MGMT_1, 0x00);
  I2C_WriteAddr(MPU6050_I2C_Moudle, MPU6050_ADDRESS,MPU6050_PWR_MGMT_2, 0x00);
  I2C_WriteAddr(MPU6050_I2C_Moudle, MPU6050_ADDRESS,MPU6050_CONFIG, 0x06);//低通滤波器带宽5Hz
  I2C_WriteAddr(MPU6050_I2C_Moudle, MPU6050_ADDRESS,MPU6050_GYRO_CONFIG, 0x08);//不自检 ±500 °/s
  I2C_WriteAddr(MPU6050_I2C_Moudle, MPU6050_ADDRESS,MPU6050_ACCEL_CONFIG, 0x08);//不自检  ±4g

}

int16 MPU6050_GetDoubleData(uint8 Addr)
{
  uint16 data=0x0000;
  data=I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, Addr);
  data=(uint16)((data<<8)&0xff00);
  data+=I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, Addr+1);
  //int16 data;
  //data= ((int16)i2c_readaddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, Addr)<<8)
  //    |(int16)i2c_readaddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, Addr+1);

  return (int16)data;//合成数据，为有符号整形数
}

void MPU6050_GetData(void)
{
  MPU6050_ACCEL_XOUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_ACCEL_XOUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_ACCEL_XOUT+1);
  MPU6050_ACCEL_YOUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_ACCEL_YOUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_ACCEL_YOUT+1);
  MPU6050_ACCEL_ZOUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_ACCEL_ZOUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_ACCEL_ZOUT+1);
  MPU6050_TEMP_OUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_TEMP_OUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_TEMP_OUT+1);
  MPU6050_GYRO_XOUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_GYRO_XOUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_GYRO_XOUT+1);
  MPU6050_GYRO_YOUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_GYRO_YOUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_GYRO_YOUT+1);
  MPU6050_GYRO_ZOUT_DATA=((int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_GYRO_ZOUT)<<8)
                        |(int16)I2C_ReadAddr(MPU6050_I2C_Moudle,MPU6050_ADDRESS, MPU6050_GYRO_ZOUT+1);
}

主函数：
  UART_Init(UART0,9600);
  MPU6050_Init();

char temp[100];
while(1)
{
xout=MPU6050_GetDoubleData(MPU6050_ACCEL_XOUT);
sprintf(temp,"角度:%d\n",xout);
UART_Put_Str(UART0,temp);
time_delay_ms(500);

}

纠结了2天了，求大神帮助，在线等！！！多谢！！

作者: panda1324 时间: 2019-2-20 00:04
请问楼主当时的问题解决了吗？

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